CN105834632A - Novel high-precision movable platform for industrial welding robot - Google Patents
Novel high-precision movable platform for industrial welding robot Download PDFInfo
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- CN105834632A CN105834632A CN201610344269.0A CN201610344269A CN105834632A CN 105834632 A CN105834632 A CN 105834632A CN 201610344269 A CN201610344269 A CN 201610344269A CN 105834632 A CN105834632 A CN 105834632A
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- slide rail
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- electric slide
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- 238000003466 welding Methods 0.000 title claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000009434 installation Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 19
- 238000013519 translation Methods 0.000 description 8
- 230000014616 translation Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 210000001215 vagina Anatomy 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Resistance Welding (AREA)
Abstract
The invention relates to a novel high-precision movable platform for an industrial welding robot. The platform comprises a rotary driving device and a six-degree-of-freedom parallel connection mechanism. The six-degree-of-freedom parallel connection mechanism is located below the front end of the rotary driving device, and the rotary driving device is fixedly connected with the six-degree-of-freedom parallel connection mechanism. The movable platform has supporting and position adjusting functions on the welding robot. Load-bearing capacity is high, adjustability is good, movement flexibility is high, the overall position of the robot can be adjusted, local positions are flexible to move, stability is high, and welding quality and efficiency of the welding robot are indirectly improved. The rotary driving device can move left, right, front and back on the horizontal plane and rotate in the vertical plane, that is, the rotary driving device can move in three directions of degrees of freedom including two horizontal movement directions and one rotation direction in space. By means of the rotary driving device, overall large-size and large-azimuth adjustment of the welding robot during welding can be guaranteed, and welding performance of the welding robot is improved.
Description
Technical field
The present invention relates to welding technology field, a kind of Novel welding industrial robot high precision mobile platform.
Background technology
Welding is also referred to as welding or connects, and welding is a kind of jointing metal or other heat in the way of heating, high temperature or high pressure
The manufacturing process of plastic material such as plastics and technology；The energy source of modern welding has a variety of, including gas flame, electric arc, swashs
Optical, electrical sub-bundle, friction and ultrasound wave etc., in addition to using in the factory, welding can also be carried out in a variety of contexts, such as open country
Outward, under water and space, the most wherein, welding all may bring danger to operator, so must take when welding
Suitable safeguard procedures, weld the injury being likely to result in human body include burn, electric shock, inpairment of vision, suction toxic gas,
Ultraviolet overexposure etc..Human weld is used for current welding more, the most not only occupies substantial amounts of cost of labor, weldering
Connect efficiency low, poor welding quality, and due to human weld, welding process is often accompanied by peril and produces, to Welder
People brings certain Personal Risk, the most progressively begins with welding robot and carries out the welding job of workpiece, current weldering
Welding robot is generally individually made up of welding support, welding equipment and control system, but current welding support all exists modulability
The problems such as difference, bearing capacity is weak and kinematic dexterity is poor.Use in consideration of it, the invention provides a kind of Novel welding industrial robot
High precision mobile platform.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of Novel welding industrial robot high precision mobile platform.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of Novel welding industrial robot high precision mobile platform, including device for revolving and driving and six-degree-of-freedom parallel connection mechanism；
Described six-degree-of-freedom parallel connection mechanism is located at turn around below driving means front end, and device for revolving and driving and six-degree-of-freedom parallel connection mechanism
It is connected.
Further, described device for revolving and driving includes elevator, longitudinal electric slide rail, longitudinal sliding block, electric turntable, laterally
Electric sliding rail, transverse slider and fixing seat, described elevator rectangular-blocklike structure, the longitudinal electric slide rail back side is fixed on liter
Fall block front end, longitudinal electric slide rail two ends are respectively arranged with longitudinal baffle, and longitudinal sliding block is arranged on longitudinal electric slide rail, electronic
Rotating disk rear end is fixed on longitudinal sliding block, and electric turntable front end is provided with transverse electric slide rail, and transverse electric slide rail is with the most sliding
The quantity of block is two, and transverse electric slide rail Parallel Symmetric is arranged, transverse electric slide rail front end is provided with transverse baffle, laterally electricity
The vertical cross section of dynamic slide rail is I-shaped structure, and transverse slider is arranged on transverse electric slide rail, fixing seat structure in the form of annular discs,
Fixing seat two ends are connected with transverse slider respectively；Device for revolving and driving can realize on horizontal plane move left and right and movable with
And the motion in two translation one rotation three degree of freedom directions altogether in gyration on the vertical plane, i.e. space, driven by revolution
Dynamic device can ensure that the welding robot overall large scale when welding and the regulation in big orientation, improves the welding of welding robot
Performance.
Further, described six-degree-of-freedom parallel connection mechanism include fixed platform, moving platform, connection seat, upper spherical hinge, electric pushrod,
Block plate seat, lower spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are three, upper spherical hinge, electronic
The quantity of push rod, block plate seat and lower spherical hinge is six, and described fixed platform and moving platform the most rounded shape structure, connection seat is pacified
Being contained on the lower surface of fixed platform, and connect seat on fixed platform in equilateral triangle location arrangements, Triangulum is arranged on moving platform
On end face, and the installation site connected between seat and Triangulum is interlocked two-by-two, and Triangulum is equilateral triangle column structure, triangle
Seat is respectively symmetrically along its vertical center line and to be provided with inclined plane, inclined plane offers and matches with lower spherical hinge lower end external screw thread
Installing screwed hole, electric pushrod bottom is connected with being connected seat by upper spherical hinge, and electric pushrod top is connected with block plate seat upper end
Connecing, block plate seat lower end is connected with lower spherical hinge one end, and the lower spherical hinge other end is arranged on Triangulum, and limit spring is around being enclosed within
On electric pushrod, and limit spring one end is connected with electric pushrod, and the limit spring other end is connected with block plate seat；Six freely
Degree parallel institution uses the six-degree-of-freedom parallel connection mechanism of 6-SPS, and big with serial mechanism phase specific stiffness, six-degree-of-freedom parallel connection mechanism is tied
Structure is stable, kinematic dexterity is high, bearing capacity is strong and fine motion precision is high, and it is flat that six-degree-of-freedom parallel connection mechanism can carry out three in space
Move the motion in three rotations six-freedom degree direction altogether, and space is little, movement velocity is fast and kinematic dexterity is good, in the present invention
In, drive welding robot can carry out three translations three in space by six-degree-of-freedom parallel connection mechanism and rotate six-freedom degree direction altogether
Motion, it is simple to welding robot is the regulation in the precisely little orientation of microsize, local when welding.
Compared with prior art, the invention have the advantages that
(1) present invention is that welding robot provides the effect supported with position adjustments, and bearing capacity is strong, and modulability is good and transports
Dynamic motility is high, its integral position scalable, and flexibly, stability is high, indirectly improves welding robot in local location motion
Welding quality and efficiency.
(2) device for revolving and driving of the present invention can realize moving left and right and movable and returning on the vertical plane on horizontal plane
Transhipment is dynamic, and i.e. the motion in two translation one rotation three degree of freedom directions altogether in space, can ensure that welding by device for revolving and driving
Robot welding time overall large scale and the regulation in big orientation, improve the welding performance of welding robot.
(3) six-degree-of-freedom parallel connection mechanism of the present invention uses the six-degree-of-freedom parallel connection mechanism of 6-SPS, with serial mechanism phase specific stiffness
Greatly, six-degree-of-freedom parallel connection mechanism Stability Analysis of Structures, kinematic dexterity are high, bearing capacity is strong and fine motion precision is high, six-freedom parallel
Mechanism can carry out three translations three in space and rotate the motion in altogether six-freedom degree directions, and space is little, movement velocity fast and
Kinematic dexterity is good, drives welding robot can carry out three translations three in space by six-degree-of-freedom parallel connection mechanism and rotates totally six
The motion in degree of freedom direction, it is simple to welding robot is the regulation in the precisely little orientation of microsize, local when welding.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view of device for revolving and driving of the present invention；
Fig. 3 is the perspective view of six-degree-of-freedom parallel connection mechanism of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figure 1 to Figure 3, a kind of Novel welding industrial robot high precision mobile platform, including device for revolving and driving 3
With six-degree-of-freedom parallel connection mechanism 4；Described six-degree-of-freedom parallel connection mechanism 4 is located at turn around below driving means 3 front end, and revolution
Driving means 3 is connected with six-degree-of-freedom parallel connection mechanism 4.
As depicted in figs. 1 and 2, described device for revolving and driving 3 includes elevator 31, longitudinal electric slide rail 32, longitudinal sliding block
33, electric turntable 34, transverse electric slide rail 35, transverse slider 36 and fixing seat 37, rectangular piece of described elevator 31
Shape structure, longitudinal electric slide rail 32 back side is fixed on elevator 31 front end, and longitudinal electric slide rail 32 two ends are respectively arranged with longitudinal direction
Baffle plate, longitudinal sliding block 33 is arranged on longitudinal electric slide rail 32, and electric turntable 34 rear end is fixed on longitudinal sliding block 33, electricity
Dynamic rotating disk 34 front end is provided with transverse electric slide rail 32, and the quantity of transverse electric slide rail 35 and transverse slider 36 is two,
Transverse electric slide rail 35 Parallel Symmetric is arranged, transverse electric slide rail 35 front end is provided with transverse baffle, transverse electric slide rail 35
Vertical cross section is I-shaped structure, and transverse slider 36 is arranged on transverse electric slide rail 35, fixing seat 37 structure in the form of annular discs,
Fixing seat 37 two ends are connected with transverse slider 36 respectively；Device for revolving and driving 3 can realize moving left and right with front on horizontal plane
The motion in two translation one rotation three degree of freedom directions altogether in rear movement and gyration on the vertical plane, i.e. space, logical
Cross device for revolving and driving 3 and can ensure that the welding robot overall large scale when welding and the regulation in big orientation, improve bonding machine
The welding performance of device people.
As shown in figures 1 and 3, described six-degree-of-freedom parallel connection mechanism 4 include fixed platform 41, moving platform 42, connect seat 43,
Upper spherical hinge 44, electric pushrod 45, block plate seat 46, lower spherical hinge 47, Triangulum 48 and limit spring 49；Described company
Joint chair 43 and Triangulum 48 quantity are three, upper spherical hinge 44, electric pushrod 45, block plate seat 46 and the quantity of lower spherical hinge 47
Being six, described fixed platform 41 and moving platform 42 the most rounded shape structure, connection seat 43 is arranged on the lower end of fixed platform 41
On face, and connecting seat 43 on fixed platform 41 in equilateral triangle location arrangements, Triangulum 48 is arranged on moving platform 42 upper surface
On, and the installation site connected between seat 43 and Triangulum 48 interlocks two-by-two, and Triangulum 48 is in equilateral triangle column structure,
Triangulum 48 is respectively symmetrically along its vertical center line and is provided with inclined plane, inclined plane offers and spiral shell outside lower spherical hinge 47 lower end
The installation screwed hole that stricture of vagina matches, electric pushrod 45 bottom is connected with being connected seat 43 by upper spherical hinge 44, electric pushrod
45 tops are connected with block plate seat 46 upper end, and block plate seat 46 lower end is connected with lower spherical hinge 47 one end, and lower spherical hinge 47 is another
One end is arranged on Triangulum 48, and limit spring 49 is around being enclosed within electric pushrod 45, and limit spring 49 one end pushes away with electronic
Bar 45 is connected, and limit spring 49 other end is connected with block plate seat 46；Six-degree-of-freedom parallel connection mechanism 4 uses the six of 6-SPS
Freedom degree parallel connection mechanism, big with serial mechanism phase specific stiffness, six-degree-of-freedom parallel connection mechanism 4 Stability Analysis of Structures, kinematic dexterity height,
Bearing capacity is strong and fine motion precision is high, and six-degree-of-freedom parallel connection mechanism 4 can carry out three translations three in space and rotate six-freedom degree altogether
The motion in direction, and space is little, movement velocity is fast and kinematic dexterity is good, in the present invention, passes through six-freedom parallel
Mechanism 4 drives welding robot can carry out three translations three in space and rotates the motion in six-freedom degree direction altogether, it is simple to bonding machine
Device people is the regulation in the precisely little orientation of microsize, local when welding.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (1)
1. a Novel welding industrial robot high precision mobile platform, it is characterised in that: include device for revolving and driving and six certainly
By degree parallel institution；Described six-degree-of-freedom parallel connection mechanism is located at turn around below driving means front end, and device for revolving and driving and six
Freedom degree parallel connection mechanism is connected；Wherein:
Described device for revolving and driving include elevator, longitudinal electric slide rail, longitudinal sliding block, electric turntable, transverse electric slide rail,
Transverse slider and fixing seat, described elevator rectangular-blocklike structure, the longitudinal electric slide rail back side is fixed on elevator front end,
Longitudinal electric slide rail two ends are respectively arranged with longitudinal baffle, and longitudinal sliding block is arranged on longitudinal electric slide rail, and electric turntable rear end is solid
Being scheduled on longitudinal sliding block, electric turntable front end is provided with transverse electric slide rail, and the quantity of transverse electric slide rail and transverse slider is equal
Being two, transverse electric slide rail Parallel Symmetric is arranged, transverse electric slide rail front end is provided with transverse baffle, hanging down of transverse electric slide rail
Straight section is I-shaped structure, and transverse slider is arranged on transverse electric slide rail, fixing seat structure in the form of annular discs, fixing seat two ends
It is connected with transverse slider respectively；
Described six-degree-of-freedom parallel connection mechanism include fixed platform, moving platform, connection seat, upper spherical hinge, electric pushrod, block plate seat,
Lower spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are three, upper spherical hinge, electric pushrod, gear
The quantity of dish seat and lower spherical hinge is six, and described fixed platform and moving platform the most rounded shape structure, connection seat is arranged on and allocates
On the lower surface of platform, and connecting seat on fixed platform in equilateral triangle location arrangements, Triangulum is arranged on moving platform upper surface,
And the installation site connected between seat and Triangulum interlocks two-by-two, and Triangulum is equilateral triangle column structure, and Triangulum hangs down along it
Straight centrage is respectively symmetrically and is provided with inclined plane, and inclined plane offers the installation screw thread matched with lower spherical hinge lower end external screw thread
Hole, electric pushrod bottom is connected with being connected seat by upper spherical hinge, and electric pushrod top is connected with block plate seat upper end, block plate
Seat lower end is connected with lower spherical hinge one end, and the lower spherical hinge other end is arranged on Triangulum, and limit spring is around being enclosed within electric pushrod
On, and limit spring one end is connected with electric pushrod, the limit spring other end is connected with block plate seat.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711353630.7A CN107813088A (en) | 2016-05-23 | 2016-05-23 | Welding industry robot high precision mobile platform and method of work |
| CN201610344269.0A CN105834632B (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
| CN201711353638.3A CN108080831A (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610344269.0A CN105834632B (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711353630.7A Division CN107813088A (en) | 2016-05-23 | 2016-05-23 | Welding industry robot high precision mobile platform and method of work |
| CN201711353638.3A Division CN108080831A (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105834632A true CN105834632A (en) | 2016-08-10 |
| CN105834632B CN105834632B (en) | 2017-12-22 |
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ID=56593109
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711353630.7A Pending CN107813088A (en) | 2016-05-23 | 2016-05-23 | Welding industry robot high precision mobile platform and method of work |
| CN201711353638.3A Pending CN108080831A (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
| CN201610344269.0A Active CN105834632B (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711353630.7A Pending CN107813088A (en) | 2016-05-23 | 2016-05-23 | Welding industry robot high precision mobile platform and method of work |
| CN201711353638.3A Pending CN108080831A (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
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| CN (3) | CN107813088A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426204A (en) * | 2016-11-03 | 2017-02-22 | 东北石油大学 | Remote operated vehicle for welding submarine pipeline |
| CN107007946A (en) * | 2017-06-06 | 2017-08-04 | 成都博士科技有限公司 | It is a kind of to be used for proton and the automatic chair of heavy particle therapy incidence cancer |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108637553B (en) * | 2018-05-22 | 2020-04-24 | 广东盈科机器人产业有限公司 | Multi-surface welding robot |
| CN109648188B (en) * | 2019-02-18 | 2023-08-22 | 安徽理工大学 | Series-parallel heavy-load friction stir welding robot |
| CN109834415B (en) * | 2019-04-08 | 2023-07-25 | 安徽工程大学 | Series-parallel five-degree-of-freedom welding robot |
| CN111571569A (en) * | 2020-05-22 | 2020-08-25 | 西安飞机工业（集团）有限责任公司 | Six-degree-of-freedom self-adaptive posture-adaptive holding platform and using method thereof |
| CN112110324B (en) * | 2020-07-29 | 2022-10-25 | 杭州艺会智能科技有限公司 | Six-degree-of-freedom motion platform |
| CN113086641B (en) * | 2021-03-16 | 2023-01-10 | 深圳市华星光电半导体显示技术有限公司 | Conveying device |
| CN115122017B (en) * | 2022-08-25 | 2022-11-01 | 山西锦荣智能技术有限公司 | Self-adaptive precise welding robot system |
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|---|---|---|---|---|
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| CN107007946A (en) * | 2017-06-06 | 2017-08-04 | 成都博士科技有限公司 | It is a kind of to be used for proton and the automatic chair of heavy particle therapy incidence cancer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108080831A (en) | 2018-05-29 |
| CN105834632B (en) | 2017-12-22 |
| CN107813088A (en) | 2018-03-20 |
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